/PROG  T1D_T2P
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "T1 DP -> T2 PK";
PROG_SIZE	= 2060;
CREATE		= DATE 12-07-19  TIME 13:20:32;
MODIFIED	= DATE 15-05-26  TIME 16:24:40;
FILE_NAME	= T1D_T2P;
VERSION		= 0;
LINE_COUNT	= 48;
MEMORY_SIZE	= 2500;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  IF DI[14:ATC UNCHUCK OK]=ON OR DI[26:TOOL #2]=OFF,JMP LBL[90] ;
   6:   ;
   7:J P[18:CLEAR] 30% CNT50    ;
   8:L P[2:APPROACH] 300mm/sec CNT50 ACC70    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:L P[5:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  12:  DO[13:REQ ATC CHUCK]=OFF ;
  13:  DO[14:REQ ATC UNCHUCK]=ON ;
  14:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  15:  WAIT   1.00(sec) ;
  16:  DO[14:REQ ATC UNCHUCK]=OFF ;
  17:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  18:L P[7:APPROACH] 300mm/sec CNT50    ;
  19:  WAIT DI[25:TOOL #1]=ON    ;
  20:L P[2:APPROACH] 300mm/sec CNT50    ;
  21:L P[18:CLEAR] 200mm/sec CNT50 ACC70    ;
  22:   ;
  23:J P[17:CLEAR] 30% CNT100    ;
  24:J P[19:CLEAR] 30% CNT100 ACC70    ;
  25:L P[10:APPROACH] 200mm/sec CNT50 ACC70    ;
  26:L P[11:APPROACH] 300mm/sec CNT50    ;
  27:L P[12:APPROACH] 300mm/sec FINE    ;
  28:  DO[13:REQ ATC CHUCK]=OFF ;
  29:  DO[14:REQ ATC UNCHUCK]=ON ;
  30:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  31:  WAIT    .50(sec) ;
  32:L P[13:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  33:  WAIT   1.00(sec) ;
  34:  DO[14:REQ ATC UNCHUCK]=OFF ;
  35:  DO[13:REQ ATC CHUCK]=ON ;
  36:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  37:  WAIT   1.00(sec) ;
  38:L P[14:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  39:L P[15:APPROACH] 300mm/sec CNT50    ;
  40:  WAIT DI[26:TOOL #2]=OFF    ;
  41:L P[16:APPROACH] 300mm/sec CNT50    ;
  42:L P[19:CLEAR] 200mm/sec CNT50 ACC70    ;
  43:   ;
  44:  MOVE TO HOME    ;
  45:  END ;
  46:   ;
  47:  LBL[90] ;
  48:  MESSAGE[ERROR: T2 DETECT OR NOT] ;
/POS
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3229.155  mm,	Y =   700.605  mm,	Z = -1021.000  mm,
	W =  -180.000 deg,	P =    89.949 deg,	R =    90.000 deg,
	E1=    15.815 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3229.155  mm,	Y =   701.000  mm,	Z = -1367.000  mm,
	W =  -180.000 deg,	P =    89.949 deg,	R =    90.000 deg,
	E1=    15.000 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3246.461  mm,	Y =   509.912  mm,	Z = -1356.441  mm,
	W =  -165.171 deg,	P =    88.285 deg,	R =   104.734 deg,
	E1=    14.516 deg
};
P[5:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3245.993  mm,	Y =   510.913  mm,	Z = -1444.988  mm,
	W =  -160.472 deg,	P =    88.665 deg,	R =   109.756 deg,
	E1=    14.683 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3246.458  mm,	Y =   699.831  mm,	Z = -1445.077  mm,
	W =  -165.171 deg,	P =    88.285 deg,	R =   104.734 deg,
	E1=    14.516 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.582  mm,	Y =   700.697  mm,	Z = -1256.696  mm,
	W =  -179.670 deg,	P =    89.667 deg,	R =    90.330 deg,
	E1=    15.815 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3285.841  mm,	Y =  -714.439  mm,	Z =  -900.000  mm,
	W =  -118.708 deg,	P =    87.731 deg,	R =   -28.714 deg,
	E1=    15.815 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3229.528  mm,	Y =  -702.585  mm,	Z = -1263.000  mm,
	W =   179.427 deg,	P =    89.576 deg,	R =   -90.574 deg,
	E1=    15.275 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3247.822  mm,	Y =  -659.198  mm,	Z = -1440.421  mm,
	W =   179.852 deg,	P =    87.991 deg,	R =   -90.148 deg,
	E1=    14.495 deg
};
P[13:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3247.824  mm,	Y =  -487.057  mm,	Z = -1440.420  mm,
	W =   179.855 deg,	P =    87.991 deg,	R =   -90.145 deg,
	E1=    14.495 deg
};
P[14:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3247.824  mm,	Y =  -487.057  mm,	Z = -1356.260  mm,
	W =   179.856 deg,	P =    87.991 deg,	R =   -90.144 deg,
	E1=    14.495 deg
};
P[15:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3245.194  mm,	Y =  -706.635  mm,	Z = -1341.440  mm,
	W =   178.942 deg,	P =    89.576 deg,	R =   -91.057 deg,
	E1=    15.815 deg
};
P[16:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.821  mm,	Y =  -694.238  mm,	Z =  -900.000  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    15.815 deg
};
P[17:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2085.822  mm,	Y =     -.010  mm,	Z =  -527.271  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =  -180.000 deg,
	E1=   107.700 deg
};
P[18:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3263.602  mm,	Y =   793.155  mm,	Z =  -527.000  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =    90.253 deg,
	E1=    16.000 deg
};
P[19:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3268.592  mm,	Y =  -784.192  mm,	Z =  -527.000  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =   -90.033 deg,
	E1=    14.706 deg
};
/END
